moveit2
The MoveIt Motion Planning Framework for ROS 2.
Loading...
Searching...
No Matches
moveit_core
online_signal_smoothing
test
test_butterworth_filter.cpp
Go to the documentation of this file.
1
/*********************************************************************
2
* Software License Agreement (BSD License)
3
*
4
* Copyright (c) 2020, PickNik Inc.
5
* All rights reserved.
6
*
7
* Redistribution and use in source and binary forms, with or without
8
* modification, are permitted provided that the following conditions
9
* are met:
10
*
11
* * Redistributions of source code must retain the above copyright
12
* notice, this list of conditions and the following disclaimer.
13
* * Redistributions in binary form must reproduce the above
14
* copyright notice, this list of conditions and the following
15
* disclaimer in the documentation and/or other materials provided
16
* with the distribution.
17
* * Neither the name of PickNik Inc. nor the names of its
18
* contributors may be used to endorse or promote products derived
19
* from this software without specific prior written permission.
20
*
21
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32
* POSSIBILITY OF SUCH DAMAGE.
33
*********************************************************************/
34
35
/* Title : test_butterworth_filter.cpp
36
* Project : moveit_core
37
* Created : 07/21/2020
38
* Author : Adam Pettinger
39
* Desc : Unit test for moveit::ButterworthFilter
40
*/
41
42
#include <gtest/gtest.h>
43
#include <
moveit/online_signal_smoothing/butterworth_filter.h
>
44
45
TEST
(SMOOTHING_PLUGINS, FilterConverge)
46
{
47
online_signal_smoothing::ButterworthFilter
lpf(2.0);
48
EXPECT_DOUBLE_EQ(0.0, lpf.
filter
(0.0));
49
double
value;
50
for
(
size_t
i = 0; i < 100; ++i)
51
{
52
value = lpf.
filter
(5.0);
53
}
54
// Check that the filter converges to expected value after many identical messages
55
EXPECT_DOUBLE_EQ(5.0, value);
56
57
// Then check that a different measurement changes the value
58
EXPECT_NE(5.0, lpf.
filter
(100.0));
59
}
60
61
TEST
(SMOOTHING_PLUGINS, FilterReset)
62
{
63
online_signal_smoothing::ButterworthFilter
lpf(2.0);
64
EXPECT_DOUBLE_EQ(0.0, lpf.
filter
(0.0));
65
lpf.
reset
(5.0);
66
double
value = lpf.
filter
(5.0);
67
68
// Check that the filter was properly set to the desired value
69
EXPECT_DOUBLE_EQ(5.0, value);
70
71
// Then check that a different measurement changes the value
72
EXPECT_NE(5.0, lpf.
filter
(100.0));
73
}
butterworth_filter.h
online_signal_smoothing::ButterworthFilter
Definition
butterworth_filter.h:66
online_signal_smoothing::ButterworthFilter::filter
double filter(double new_measurement)
Definition
butterworth_filter.cpp:82
online_signal_smoothing::ButterworthFilter::reset
void reset(const double data)
Definition
butterworth_filter.cpp:94
TEST
TEST(SMOOTHING_PLUGINS, FilterConverge)
Definition
test_butterworth_filter.cpp:45
Generated by
1.9.8